In this paper, we introduce a novel swarm application, swarm synergy, where robots in a swarm intend to form communities. Each robot is considered to make independent decisions without any communication capability (silent agent). The proposed algorithm is based on parameters local to individual robots. Engaging scenarios are studied where the silent robots form communities without the preset conditions on the number of communities, community size, goal location of each community, and specific members in the community. Our approach allows silent robots to achieve this self-organized swarm behavior using only sensory inputs from the environment. The algorithm facilitates the formation of multiple swarm communities at arbitrary locations with unspecified goal locations. We further infer the behavior of swarm synergy to ensure the anonymity/untraceability of both robots and communities. The robots intend to form a community by sensing the neighbors, creating synergy in a bounded environment. The time to achieve synergy depends on the environment boundary and the onboard sensor's field of view. Compared to the state-of-art with similar objectives, the proposed communication-free swarm synergy shows comparative time to synergize with untraceability features.

翻译：本文提出了一种新颖的群智应用——群智协同，其中群智机器人旨在形成社区。每个机器人被视为独立决策的个体，不具备任何通信能力（静默智能体）。所提算法基于单个机器人的本地参数。我们研究了极具挑战性的场景：静默机器人在无需预设社区数量、社区规模、各社区目标位置及特定成员的情况下形成社区。我们的方法使静默机器人仅通过环境感知输入即可实现这种自组织群体行为。该算法能够促进多个群智社区在任意位置形成，且无需指定目标位置。我们进一步推断群智协同行为，以确保机器人与社区的双重匿名性/不可追踪性。机器人通过感知邻近个体，在有限环境中产生协同效应，从而形成社区。实现协同所需的时间取决于环境边界和机载传感器的视场角。与具有类似目标的现有技术相比，所提出的无通信群智协同在实现协同时间相当的同时，具备不可追踪特性。